QOED selects identifiable parameter directions via Fisher matrix eigenspace analysis and modifies exploration objectives to approximate ideal information gain under bounded nuisance assumptions, yielding 21-35% performance gains in robotic tasks.
Givenδ∼p 0(·)and conditioning c, define the one-step map Tθ(δ,c) :=δ−v θ(δ,1,c,1)
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Learning What Matters: Adaptive Information-Theoretic Objectives for Robot Exploration
QOED selects identifiable parameter directions via Fisher matrix eigenspace analysis and modifies exploration objectives to approximate ideal information gain under bounded nuisance assumptions, yielding 21-35% performance gains in robotic tasks.